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http://dx.doi.org/10.5574/KSOE.2013.27.6.056

Modeling and controller design of crabbing motion for auto-berthing  

Park, Jong-Yong (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Kim, Nakwan (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Publication Information
Journal of Ocean Engineering and Technology / v.27, no.6, 2013 , pp. 56-64 More about this Journal
Abstract
Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.
Keywords
Auto-berthing; Crabbing motion; Feedback linearization; Control allocation;
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Times Cited By KSCI : 1  (Citation Analysis)
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